;; -*- mode: lisp; -*-

(RSG 0 1)
(
 (templ $name $perceptorName $effectorName $attach
	$x $y $z
	$lenX $lenY $lenZ
	$anchorX $anchorY $anchorZ
	$axisX $axisY $axisZ
	$minDeg $maxDeg
	$totalMass $material)

 (nd Transform
     (setName $name)
     (setLocalPos $x $y $z)
     (importScene rsg/agent/soccerbot058/box.rsg
		  $lenX $lenY $lenZ
		  $totalMass $material)

     ;; install hinge joint
     (importScene rsg/agent/nao/hingejoint.rsg
		  $perceptorName $effectorName
		  ../boxBody $attach
		  $anchorX    $anchorY   $anchorZ
		  $axisX      $axisY     $axisZ
		  $minDeg $maxDeg)
     )
 )
